// --------------------------------------------------------------------------------------------------------------------
// <copyright file="SLAM2DToPose2DTransformerAgent.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
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namespace Test.Robotics.Navigation
{
    using System.Runtime.Serialization;

    using Microsoft.Robotics.Hardware.DAC;  
    using Microsoft.Robotics.Navigation.Runtime.Localization;
    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Runtime;      

    /// <summary>
    /// Agent that consumes a Slam2D agent message and produces the corresponding Slam2D pose message.
    /// </summary>
    [DataContract]
    public class SLAM2DToPose2DTransformerAgent : ConsumerProducerAgent<SLAM2DAgentMessage, SLAM2DPoseMessage>
    {
        /// <summary>
        /// Initializes a new instance of the SLAM2DToPose2DTransformerAgent class.
        /// </summary>
        /// <param name="name">The name of the slam2d agent</param>
        /// <param name="slamProducer">The name of the slam agent producing the measured data</param>
        public SLAM2DToPose2DTransformerAgent(
            string name,
            IProducer<SLAM2DAgentMessage> slamProducer)
            : base(name, slamProducer.Name)
        {           
        }

        /// <summary>
        /// Receive a slam 2D agent message and post the robot pose message.
        /// </summary>
        /// <param name="message">A slam 2d pose message containing the most likely robot pose and alternate poses.</param>
        public override void Receive(SLAM2DAgentMessage message)
        {
           this.Publisher.Post(new SLAM2DPoseMessage(message.Location, message.Poses, message.OriginatingTime));
        }
    }
}
